CN112912932A - Calibration method and device of vehicle-mounted camera and terminal equipment - Google Patents
Calibration method and device of vehicle-mounted camera and terminal equipment Download PDFInfo
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/10—Internal combustion engine [ICE] based vehicles
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Abstract
The application is suitable for the technical field of calibration, and provides a calibration method, a device and terminal equipment for a vehicle-mounted camera, wherein the method comprises the following steps: acquiring a first height of a target camera perpendicular to the ground; determining a second height of the target point on the ground, which is mapped on the reference object, according to the first height, and obtaining a target range position according to the second height and a preset up-down floating range value; calculating a first ordinate of a target point under an image coordinate system according to a preset standard pitch angle of a target camera; drawing a reference line in a picture detected by the camera according to the first ordinate; adjusting the pitching angle of the target camera until the reference line is in the target range position; determining a third height at which a reference line maps in the reference; and determining a target pitch angle of the target camera according to the third height and the first ordinate. The calibration method can efficiently calibrate the angle value, can reduce the requirement on the precision of the fine adjustment element of the vehicle-mounted camera, and improves the calibration precision of the pitch angle of the camera.
Description
Technical Field
The application belongs to the technical field of calibration, and particularly relates to a calibration method and device for a vehicle-mounted camera and terminal equipment.
Background
With the maturity of artificial intelligence algorithms, automatic driving and intelligent auxiliary driving technologies applied to vehicles are rapidly developed. Road monitoring, road surface scene analysis and collision risk perception become the indispensable functions of intelligent systems such as various driving assistance systems, and when various driving assistance systems want to accurately realize functions such as road monitoring, road surface scene analysis and collision risk perception, one of them decisive influence factor is the accuracy of camera range finding.
Because the calibration of the pitch angle of the camera greatly affects the accuracy of distance measurement, the calibration of the currently popular camera usually corrects the camera based on a fixed pitch angle. The method requires that the camera can be precisely calibrated to a preset angle value, the calibration difficulty is high, and generally, due to the limitation of hardware fine-tuning equipment and the measurement error, the accurate calibration of the angle value cannot be achieved, so that the calibration of the pitch angle of the camera is inaccurate, and further the actual distance measurement error of the camera is large.
Disclosure of Invention
The embodiment of the application provides a calibration method and device for a vehicle-mounted camera and terminal equipment, and aims to solve the problems that the existing hardware precision requirement is high, and the calibration angle value cannot be accurately calibrated, so that the calibration is inaccurate.
In a first aspect, an embodiment of the present application provides a calibration method for a vehicle-mounted camera, where a ground corresponding to a position spaced by a first preset horizontal distance from a target camera on a target vehicle is provided with a reference object, and the calibration method includes:
acquiring a first height of the target camera perpendicular to the ground;
determining a second height of a target point on the ground, which is mapped on the reference object, according to the first height, and obtaining a target range position according to the second height and a preset up-down floating range value; the target point on the ground is a point on the ground corresponding to the position spaced by a second preset horizontal distance from the target camera;
calculating a first ordinate of the target point under the image coordinate system of the target camera according to a preset standard pitch angle of the target camera;
drawing a reference line in a picture detected by the target camera according to the first ordinate;
if the reference line is not in the target range, adjusting the pitching angle of the target camera until the reference line is in the target range;
determining a third height at which the reference line maps in the reference;
and determining a target pitch angle of the target camera according to the third height and the first ordinate.
In a second aspect, an embodiment of the present application provides a calibration apparatus for a vehicle-mounted camera, where a ground corresponding to a position on a target vehicle where a first preset horizontal distance is spaced from a target camera is provided with a reference object, and the calibration apparatus includes:
the acquisition module is used for acquiring a first height of the target camera, which is vertical to the ground;
the first determining module is used for determining a second height of a target point on the ground, which is mapped on the reference object, according to the first height so as to obtain a target range position according to the second height and a preset up-down floating range value; the target point on the ground is a point on the ground corresponding to the position spaced by a second preset horizontal distance from the target camera;
the calculation module is used for calculating a first vertical coordinate of the target point under the image coordinate system of the target camera according to a preset standard pitch angle of the target camera;
the drawing module is used for drawing a reference line in a picture detected by the target camera according to the first vertical coordinate;
the adjusting module is used for adjusting the pitching angle of the target camera if the reference line is not in the target range until the reference line is in the target range;
a second determination module for determining a third height at which the reference line maps in the reference object;
and the third determining module is used for determining the target pitching angle of the target camera according to the third height and the first vertical coordinate.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the calibration method for a vehicle-mounted camera according to the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of the calibration method for an in-vehicle camera according to the first aspect are implemented.
In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on an electronic device, causes the electronic device to execute the steps of the calibration method for an in-vehicle camera according to the first aspect.
Compared with the prior art, the first aspect of the embodiment of the application has the following beneficial effects: the pitching angle of the target camera can be adjusted until the reference line is in the target range position; determining a third height at which the reference line maps in the reference; and determining the target pitch angle of the target camera according to the third height and the first vertical coordinate, namely only adjusting the target pitch angle of the target camera to enable the reference line to fall in the target range position, and determining the target pitch angle of the target camera according to the third height and the first vertical coordinate, so that the requirement on the precision of a fine adjustment element of the vehicle-mounted camera can be reduced, the angle value can be simply and accurately calibrated, and the calibration precision of the pitch angle of the camera is improved.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or exemplary technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a calibration method for a vehicle-mounted camera according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an application scenario of a calibration method according to an embodiment of the present application;
fig. 3 is a calculation diagram for calculating a first ordinate of a target point in the camera image coordinate system according to an embodiment of the present application;
fig. 4 is a schematic specific flowchart of step S104 according to an embodiment of the present application;
FIG. 5 is a dead reckoning graph for determining a target tilt angle of the target camera according to an embodiment of the present application
Fig. 6 is a schematic flowchart of a calibration method for a vehicle-mounted camera according to yet another embodiment of the present application;
fig. 7 is a schematic structural diagram of a terminal device according to still another embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The calibration method for the vehicle-mounted camera provided by the embodiment of the application can be applied to the vehicle-mounted camera and vehicle-mounted equipment, or applied to a server, a tablet computer, an Augmented Reality (AR)/Virtual Reality (VR) equipment, a notebook computer, a super-mobile personal computer (UMPC), a netbook, a Personal Digital Assistant (PDA), a mobile phone, or other various terminal equipment capable of performing data processing. The embodiment of the present application does not set any limit to the specific type of the device.
In order to explain the technical means described in the present application, the following examples are given below.
Referring to fig. 1, in a calibration method for a vehicle-mounted camera provided in an embodiment of the present application, a reference object is disposed on a ground corresponding to a position spaced by a first preset horizontal distance from a target camera on a target vehicle, and the calibration method includes:
and S101, acquiring a first height of the target camera perpendicular to the ground.
Specifically, the target camera is arranged on a target vehicle, the optical axis direction of the target camera is parallel to the vehicle running direction, the height of the target camera perpendicular to the ground can be measured by a user when calibration is needed, the height is called as a first height, the first height can be input by the user, and the first height of the target camera perpendicular to the ground is obtained when the first height is received. Or the installation height of the target camera is stored in advance, and when the first height input by the user is not obtained, the first height of the target camera perpendicular to the ground is obtained from a pre-stored database.
In an application scenario, please refer to h in FIG. 20The first height of the target camera perpendicular to the ground.
Step S102, determining a second height of a target point on the ground, which is mapped on the reference object, according to the first height, and obtaining a target range position according to the second height and a preset up-down floating range value; and the target point on the ground is a point on the ground corresponding to the position spaced by a second preset horizontal distance from the target camera.
Specifically, a target point on the ground corresponding to a position spaced by a second preset horizontal distance from the target camera is calculated, and a second height of the target point on the reference object is mapped. The second preset horizontal distance is greater than the first preset horizontal distance, and the second height mapped on the reference object can be understood as determining the height of the target point mapped on the reference object from the picture in the target camera, and is called as the second height. And presetting an upper floating value and a lower floating value, upwards floating the preset upper floating value and downwards floating the preset lower floating value by taking the second height as a base line, determining a range based on the second height, and determining the target range position of the range in the camera picture so as to obtain the target range position.
In an application scenario, please refer to FIG. 2, wherein h1Denotes a second height, htRepresents a preset upper float value, hbFor the preset lower floating value, floating the preset upper floating value upward and the preset lower floating value downward based on the second altitude as a baseline, a range based on the second altitude, such as range 1 shown in fig. 2, may be determined, and a target range position of the range in the camera frame, such as a target range position in the image coordinate system shown in fig. 2, may be determined according to the range 1, S shown in fig. 21Is a first predetermined distance, S2Is the second predetermined distance.
In one embodiment, the reference includes, but is not limited to, a tower ruler; determining a second height of a target point on the ground, which is mapped on the reference object, according to the first height, so as to obtain a target range position according to the second height and a preset up-down floating range value, wherein the method comprises the following steps: and determining a second height of the target point on the ground, which is mapped on the sliding staff, according to the first height, and respectively moving the upper vernier and the lower vernier on the sliding staff to corresponding positions according to the second height and preset upper and lower floating range values to obtain a target range position.
Specifically, the reference object may be a sliding staff, the sliding staff includes two cursors capable of moving up and down, and after determining a second height of the target point on the ground, which is mapped on the sliding staff, according to the first height, the upper cursor is moved to a position spaced from the second height by a preset upper floating value, and the lower cursor is moved to a position spaced from the second height by a preset lower floating value, so as to determine a floating range, and further determine a target range position of the floating range in the image coordinate system.
In one embodiment, the determining a second height at which the target point on the ground is mapped on the reference object according to the first height comprises: calculating a second height of a target point on the ground, which is mapped on the reference object, through a similar triangular relation according to the first height, the first preset distance and the preset second distance; wherein the calculation formula of the second height is as follows:
wherein, the h1Is a second height, said h0Is a first height, said s1For a first predetermined horizontal distance, s2Is the second predetermined horizontal distance.
In particular, since the first height and the second height are understood to be the first sides of two similar triangles, respectively; the second preset horizontal distance and the difference value between the second preset horizontal distance and the first preset horizontal distance are respectively the second sides of the two similar triangles, so that the second height of the target point on the ground, which is mapped on the reference object, can be calculated through the similar triangle relationship according to the first height, the first preset distance and the preset second distance.
In practical application, test experiments show that the height value h allowed to float on the tower ruler is settAnd hbThe effect is optimal when the distance measuring device is set to be 20cm, and the requirements of camera road condition snapshot and calibration distance measurement can be met simultaneously. Specifically, the first preset distance may be set to 5m, and the second preset distance may be set to 20 m.
And step S103, calculating a first vertical coordinate of the target point under the image coordinate system of the target camera according to the preset standard pitch angle of the target camera.
Specifically, the preset standard pitch angle may be a standard pitch angle value preset in an ideal state, and assuming that the target camera is at the preset standard pitch angle, the height of the target point in the camera image may be understood as a first ordinate of the target point in the camera image coordinate system. Specifically, a first ordinate of the target point under the camera image coordinate system can be calculated according to the camera imaging principle and the geometric knowledge.
In one embodiment, according to the preset standard pitch angle of the target camera, a formula for calculating a first ordinate of the target point in the target camera image coordinate system is as follows:
wherein v is1Is the first ordinate, f is the focal length of the target camera, v0Is the second ordinate of the optical center point in the target camera in the image coordinate system, gamma is the preset standard pitch angle, h0Is the first height, the s2Is the second predetermined horizontal distance. Such as a preset standard pitch angle set to 0 degrees or other values depending on the actual application scenario.
In one application, as shown in fig. 3, the first ordinate of the target point in the camera image coordinate system is calculated according to the camera imaging principle and geometric knowledge.
And step S104, drawing a reference line in a picture detected by the target camera according to the first vertical coordinate.
Specifically, the pixel ordinate of the target point mapped in the image is calculated according to the ideal pitch angle, and the position of the reference line is set according to the pixel ordinate and is drawn in the camera picture.
In one application scenario, please refer to the reference line position in fig. 2.
In an embodiment, referring to fig. 4, the drawing a reference line in the frame detected by the target camera according to the first ordinate includes steps S1041 to S1042:
step S1041, determining a vertical height in a picture detected by the target camera according to the first ordinate.
Step S1042, according to the vertical height, draw a reference line parallel to the horizontal axis of the detected frame.
And S105, if the reference line is not in the target range, adjusting the pitch angle of the target camera until the reference line is in the target range.
Specifically, if the reference line is not located in the target range of the image coordinate system, the pitch angle of the target camera may be adjusted by a preset adjusting device (i.e., a fine-tuning element) until the reference line is located in the target range, and at this time, the reference line is only adjusted to the target range, and the reference line does not need to be adjusted to the second height, so that the adjusting device with low precision may be accurately adjusted to the target range. The reference line being in the target range position may be detected by an image recognition method or may be determined by a manual determination method.
Step S106, determining a third height of the reference line mapped in the reference object.
In one embodiment, the reference object is provided with scales; the determining a third height at which the reference line maps in the reference, comprising: and identifying a scale value of the reference line mapped in the reference object in a corresponding target range position in the picture detected by the target camera, and determining the third height according to the scale value.
Specifically, in the detected picture of the camera, a scale value of the reference line in the reference object is determined, and the actual height of the reference line in the reference object, namely the third height, can be determined according to the scale value.
And S107, determining a target pitch angle of the target camera according to the third height and the first vertical coordinate.
Specifically, the target camera may be a monocular camera, and according to the third height and the first ordinate, a current actual pitch angle of the target camera may be determined through a monocular distance measurement algorithm, and the current actual pitch angle, that is, the target pitch angle, is determined, that is, calibration of the pitch angle of the target camera is completed.
In one embodiment, the calculation formula for determining the target pitch angle of the target camera according to the third height and the first ordinate is as follows:
where θ is the target pitch angle, h0Is the first height, h2Is the third height, f is the focal length of the target camera, v1Is said first ordinate, v0Is said second ordinate, said s1Is a first predetermined horizontal distance.
And is also a formula designed based on the principle of similar triangles.
In one application, as shown in FIG. 5, a map is derived for determining a target pitch angle for the target camera.
The pitching angle of the target camera can be adjusted until the reference line is located in the target range position; determining a third height at which the reference line maps in the reference; determining a target pitch angle of the target camera according to the third height and the first vertical coordinate, namely only adjusting the target pitch angle of the target camera to enable a reference line to fall within a target range position, and then determining a third height of the reference line mapped in the reference object; and determining the target pitch angle of the target camera according to the third height and the first vertical coordinate, so that the requirement on the precision of a fine adjustment element of the vehicle-mounted camera can be reduced, the angle value can be simply and accurately calibrated, and the calibration precision of the pitch angle of the camera is improved.
The embodiment of the application also provides a calibration device of the vehicle-mounted camera, which is used for executing the steps in the embodiment of the calibration device of the vehicle-mounted camera. As shown in fig. 6, a reference object is disposed on the ground corresponding to a position spaced by a first preset horizontal distance from a target camera on a target vehicle, and the calibration apparatus includes:
an obtaining module 601, configured to obtain a first height at which the target camera is perpendicular to the ground;
a first determining module 602, configured to determine, according to the first height, a second height at which a target point on the ground is mapped on the reference object, so as to obtain a target range position according to the second height and a preset upper and lower floating range value; the target point on the ground is a point on the ground corresponding to the position spaced by a second preset horizontal distance from the target camera;
a calculating module 603, configured to calculate a first ordinate of the target point in the target camera image coordinate system according to the preset standard pitch angle of the target camera;
a drawing module 604, configured to draw a reference line in a picture detected by the target camera according to the first ordinate;
an adjusting module 605, configured to adjust a pitch angle of the target camera until the reference line is located in the target range if the reference line is not located in the target range;
a second determining module 606 for determining a third height at which the reference line maps in the reference object;
a third determining module 607, configured to determine a target pitch angle of the target camera according to the third height and the first ordinate.
In one embodiment, the first determining module is specifically configured to:
calculating a second height of a target point on the ground, which is mapped on the reference object, through a similar triangular relation according to the first height, the first preset distance and the preset second distance;
wherein the calculation formula of the second height is as follows:
wherein, the h1Is a second height, said h0Is a first height, said s1For a first predetermined horizontal distance, s2Is the second predetermined horizontal distance.
In one embodiment, the calculation module includes the calculation formula:
wherein v is1Is the first ordinate, f is the focal length of the target camera, v0Is the second ordinate of the optical center point in the target camera in the image coordinate system, gamma is the preset standard pitch angle, h0Is the first height, the s2Is the second predetermined horizontal distance.
In one embodiment, the third determination module includes the calculation formula:
where θ is the target pitch angle, h0Is the first height, h2Is the third height, f is the focal length of the target camera, v1Is said first ordinate, v0Is said second ordinate, said s1Is a first predetermined horizontal distance.
In one embodiment, the rendering module comprises:
the determining unit is used for determining the vertical height in the picture detected by the target camera according to the first vertical coordinate;
and the drawing unit is used for drawing a reference line parallel to the transverse axis of the picture in the detected picture according to the vertical height.
In one embodiment, the reference object is a tower ruler;
the first determining module is specifically configured to:
and determining a second height of the target point on the ground, which is mapped on the sliding staff, according to the first height, and respectively moving the upper vernier and the lower vernier on the sliding staff to corresponding positions according to the second height and preset upper and lower floating range values to obtain a target range position.
In one embodiment, the reference object is provided with scales;
the second determining module is specifically configured to:
and identifying a scale value of the reference line mapped in the reference object in a corresponding target range position in the picture detected by the target camera, and determining the third height according to the scale value.
The pitching angle of the target camera can be adjusted until the reference line is located in the target range position; determining a third height at which the reference line maps in the reference; determining a target pitch angle of the target camera according to the third height and the first vertical coordinate, namely only adjusting the target pitch angle of the target camera to enable a reference line to fall within a target range position, and then determining a third height of the reference line mapped in the reference object; and determining the target pitch angle of the target camera according to the third height and the first vertical coordinate, so that the requirement on the precision of a fine adjustment element of the vehicle-mounted camera can be reduced, the angle value can be simply and accurately calibrated, and the calibration precision of the pitch angle of the camera is improved.
As shown in fig. 7, an embodiment of the present application further provides a terminal device 700 including: a processor 701, a memory 702 and a computer program 703, such as a calibration program and/or an execution program for a vehicle camera, stored in said memory 702 and executable on said processor 701. When the processor 701 executes the computer program 703, the steps in the calibration method embodiments of each vehicle-mounted camera described above are implemented. The processor 701 implements the functions of the modules in the above-described device embodiments when executing the computer program 703.
Illustratively, the computer program 703 may be partitioned into one or more modules that are stored in the memory 702 and executed by the processor 701 to accomplish the present application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program 703 in the terminal device 700.
The terminal device 700 may be a server, a tablet computer, a wearable device, an in-vehicle device, an Augmented Reality (AR)/Virtual Reality (VR) device, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a Personal Digital Assistant (PDA), a mobile phone, or other computing device. The terminal device may include, but is not limited to, a processor 701 and a memory 702. Those skilled in the art will appreciate that fig. 7 is merely an example of a terminal device 700 and does not constitute a limitation of terminal device 700 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.
The Processor 701 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 702 may be an internal storage unit of the terminal device 700, such as a hard disk or a memory of the terminal device 700. The memory 702 may also be an external storage device of the terminal device 700, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal device 700. Further, the memory 702 may also include both an internal storage unit and an external storage device of the terminal device 700. The memory 702 is used for storing the computer program and other programs and data required by the terminal device. The memory 702 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated module, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (15)
1. A calibration method of a vehicle-mounted camera is characterized in that a reference object is arranged on the ground corresponding to a position where a first preset horizontal distance is separated from a target camera on a target vehicle, and the calibration method comprises the following steps:
acquiring a first height of the target camera perpendicular to the ground;
determining a second height of a target point on the ground, which is mapped on the reference object, according to the first height, and obtaining a target range position according to the second height and a preset up-down floating range value; the target point on the ground is a point on the ground corresponding to the position spaced by a second preset horizontal distance from the target camera;
calculating a first ordinate of the target point under the image coordinate system of the target camera according to a preset standard pitch angle of the target camera;
drawing a reference line in a picture detected by the target camera according to the first ordinate;
if the reference line is not in the target range, adjusting the pitching angle of the target camera until the reference line is in the target range;
determining a third height at which the reference line maps in the reference;
and determining a target pitch angle of the target camera according to the third height and the first ordinate.
2. The calibration method according to claim 1, wherein determining a second height at which the target point on the ground is mapped on the reference object based on the first height comprises:
calculating a second height of a target point on the ground, which is mapped on the reference object, through a similar triangular relation according to the first height, the first preset distance and the preset second distance;
wherein the calculation formula of the second height is as follows:
wherein h is1Is a second height, h0Is a first height, s1Is a first predetermined horizontal distance, s2Is the second predetermined horizontal distance.
3. The calibration method according to claim 1, wherein the formula for calculating the first ordinate of the target point in the target camera image coordinate system according to the preset standard pitch angle of the target camera is as follows:
wherein v is1Is the first ordinate, f is the focal length of the target camera, v0Is the second ordinate of the optical center point in the target camera in the image coordinate system, gamma is the preset standard pitch angle, h0Is the first height, s2Is the second predetermined horizontal distance.
4. The calibration method according to claim 3, wherein the calculation formula for determining the target pitch angle of the target camera according to the third height and the first ordinate is:
where θ is the target pitch angle, h0Is the first height, h2Is the third height, f is the focal length of the target camera, v1Is said first ordinate, v0Is said second ordinate, s1Is a first predetermined horizontal distance.
5. The calibration method according to claim 1, wherein said drawing a reference line in the picture detected by the target camera according to the first ordinate comprises:
determining the vertical height in the picture detected by the target camera according to the first vertical coordinate;
and drawing a reference line parallel to the transverse axis of the picture in the detected picture according to the vertical height.
6. The calibration method according to any one of claims 1 to 5, wherein the reference object is a sliding staff;
determining a second height of a target point on the ground, which is mapped on the reference object, according to the first height, so as to obtain a target range position according to the second height and a preset up-down floating range value, wherein the method comprises the following steps:
and determining a second height of the target point on the ground, which is mapped on the sliding staff, according to the first height, and respectively moving the upper vernier and the lower vernier on the sliding staff to corresponding positions according to the second height and preset upper and lower floating range values to obtain a target range position.
7. The calibration method according to any one of claims 1 to 5, wherein a scale is arranged on the reference object;
the determining a third height at which the reference line maps in the reference, comprising:
and identifying a scale value of the reference line mapped in the reference object in a corresponding target range position in the picture detected by the target camera, and determining the third height according to the scale value.
8. The utility model provides a calibration device of on-vehicle camera, its characterized in that, the ground department that corresponds with the first preset horizontal distance department in target camera interval on the target vehicle is equipped with the reference thing, calibration device includes:
the acquisition module is used for acquiring a first height of the target camera, which is vertical to the ground;
the first determining module is used for determining a second height of a target point on the ground, which is mapped on the reference object, according to the first height so as to obtain a target range position according to the second height and a preset up-down floating range value; the target point on the ground is a point on the ground corresponding to the position spaced by a second preset horizontal distance from the target camera;
the calculation module is used for calculating a first vertical coordinate of the target point under the image coordinate system of the target camera according to a preset standard pitch angle of the target camera;
the drawing module is used for drawing a reference line in a picture detected by the target camera according to the first vertical coordinate;
the adjusting module is used for adjusting the pitching angle of the target camera if the reference line is not in the target range until the reference line is in the target range;
a second determination module for determining a third height at which the reference line maps in the reference object;
and the third determining module is used for determining the target pitching angle of the target camera according to the third height and the first vertical coordinate.
9. The calibration device according to claim 8, wherein the first determination module is specifically configured to:
calculating a second height of a target point on the ground, which is mapped on the reference object, through a similar triangular relation according to the first height, the first preset distance and the preset second distance;
wherein the calculation formula of the second height is as follows:
wherein h is1Is a second height, h0Is a first height, s1Is a first predetermined horizontal distance, s2Is the second predetermined horizontal distance.
10. The calibration device according to claim 8, wherein the calculation module includes the calculation formula:
wherein v is1Is the first ordinate, f is the focal length of the target camera, v0Is the second ordinate of the optical center point in the target camera in the image coordinate system, gamma is the preset standard pitch angle, h0Is the first height, s2For a second predetermined horizontal distance。
11. The calibration apparatus according to claim 10, wherein the third determination module includes the calculation formula:
where θ is the target pitch angle, h0Is the first height, h2Is the third height, f is the focal length of the target camera, v1Is said first ordinate, v0Is said second ordinate, s1Is a first predetermined horizontal distance.
12. The calibration device according to claim 8, wherein the mapping module comprises:
the determining unit is used for determining the vertical height in the picture detected by the target camera according to the first vertical coordinate;
and the drawing unit is used for drawing a reference line parallel to the transverse axis of the picture in the detected picture according to the vertical height.
13. The calibration device according to any one of claims 8 to 12, wherein the reference object is a sliding staff;
the first determining module is specifically configured to:
and determining a second height of the target point on the ground, which is mapped on the sliding staff, according to the first height, and respectively moving the upper vernier and the lower vernier on the sliding staff to corresponding positions according to the second height and preset upper and lower floating range values to obtain a target range position.
14. The calibration device according to any one of claims 8 to 12, wherein a scale is provided on the reference object;
the second determining module is specifically configured to:
and identifying a scale value of the reference line mapped in the reference object in a corresponding target range position in the picture detected by the target camera, and determining the third height according to the scale value.
15. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
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| PCT/CN2021/074453 WO2022160266A1 (en) | 2021-01-29 | 2021-01-29 | Vehicle-mounted camera calibration method and apparatus, and terminal device |
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| WO2022160266A1 (en) | 2022-08-04 |
| CN112912932B (en) | 2024-03-08 |
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